Added initial broadphase support for softbody versus softbody and softbody versus rigidbody (see btSoftSoftCollisionAlgorithm and btSoftRididCollisionAlgorithm)
Added SOFTBODY_SHAPE_PROXYTYPE. Some refactoring for btSoftBody, needs more work.
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
Load Diff
@@ -14,8 +14,8 @@ subject to the following restrictions:
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*/
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///btSoftBody implementation by Nathanael Presson
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#ifndef _312AEEF3_52DA_4ff6_B804_FCF937182E46_
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#define _312AEEF3_52DA_4ff6_B804_FCF937182E46_
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#ifndef _BT_SOFT_BODY_H
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#define _BT_SOFT_BODY_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btPoint3.h"
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@@ -23,83 +23,116 @@ subject to the following restrictions:
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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//
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// btSoftBody
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//
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struct btSoftBody
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{
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#include "BulletCollision/CollisionShapes/btConcaveShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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#include "BulletDynamics/SoftBody/btSparseSDF.h"
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class btBroadphaseInterface;
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class btCollisionDispatcher;
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/// btSoftBody is work-in-progress
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struct btSoftBody : public btCollisionObject
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{
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//
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// Enumerations
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//
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/* eLType */
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///eLType
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struct eLType { enum _ {
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Structural, /* Master constraints */
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Bending, /* Secondary constraints */
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Structural, ///Master constraints
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Bending, ///Secondary constraints
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};};
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/* eAeroModel */
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////eAeroModel
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struct eAeroModel { enum _ {
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V_Point, /* Vertex normals are oriented toward velocity */
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V_TwoSided, /* Vertex normals are fliped to match velocity */
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V_OneSided, /* Vertex normals are taken as it is */
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F_TwoSided, /* Face normals are fliped to match velocity */
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F_OneSided, /* Face normals are taken as it is */
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V_Point, ///Vertex normals are oriented toward velocity
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V_TwoSided, ///Vertex normals are fliped to match velocity
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V_OneSided, ///Vertex normals are taken as it is
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F_TwoSided, ///Face normals are fliped to match velocity
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F_OneSided, ///Face normals are taken as it is
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};};
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//
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// Interfaces
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//
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/* ISoftBody */
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struct ISoftBody
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{
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struct sCti
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{
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btRigidBody* m_body; /* Rigid body */
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btVector3 m_normal; /* Outward normal */
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btScalar m_offset; /* Offset from origin */
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};
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struct sMedium
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{
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btVector3 m_velocity; /* Velocity */
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btScalar m_pressure; /* Pressure */
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btScalar m_density; /* Density */
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};
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virtual void Attach(btSoftBody*)
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{}
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virtual void Detach(btSoftBody*)
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{ delete this; }
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virtual void StartCollide( const btVector3& /*minbounds*/,
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const btVector3& /*maxbounds*/)
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{}
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virtual bool CheckContact (const btVector3& /*position*/,
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sCti& /*contact*/)
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{ return(false); }
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virtual void EndCollide()
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{}
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virtual void EvaluateMedium( const btVector3& /*position*/,
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sMedium& medium)
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{ medium.m_velocity=btVector3(0,0,0);
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medium.m_pressure=0;
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medium.m_density=0; }
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};
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struct btSoftBodyWorldInfo
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{
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btScalar air_density;
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btScalar water_density;
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btScalar water_offset;
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btVector3 water_normal;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btSparseSdf<3> m_sparsesdf;
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};
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//reference or copy?
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btSoftBodyWorldInfo& m_worldInfo;
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///constructor
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btSoftBody(btSoftBody::btSoftBodyWorldInfo& worldInfo,int node_count,
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const btVector3* x,
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const btScalar* m);
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///sCti is Softbody contact info
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struct sCti
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{
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btRigidBody* m_body; /* Rigid body */
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btVector3 m_normal; /* Outward normal */
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btScalar m_offset; /* Offset from origin */
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};
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void StartCollide(const btVector3& aabbMin,const btVector3& aabbMax)
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{
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//??
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}
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void EndCollide()
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{
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//??
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}
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//
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bool CheckContact( const btVector3& x, btSoftBody::sCti& cti);
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////
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///destructor
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virtual ~btSoftBody();
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struct sMedium
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{
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btVector3 m_velocity; /* Velocity */
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btScalar m_pressure; /* Pressure */
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btScalar m_density; /* Density */
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};
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virtual void EvaluateMedium( const btVector3& /*position*/, sMedium& medium)
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{
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medium.m_velocity=btVector3(0,0,0);
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medium.m_pressure=0;
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medium.m_density=0;
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}
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//
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// Internal types
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//
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typedef btAlignedObjectArray<btScalar> tScalarArray;
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typedef btAlignedObjectArray<btVector3> tVector3Array;
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/* Base type */
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struct Element
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{
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{
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void* m_tag; // User data
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};
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/* Node */
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};
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///Node
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struct Node : Element
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{
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{
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btVector3 m_x; // Position
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btVector3 m_q; // Previous step position
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btVector3 m_v; // Velocity
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@@ -108,47 +141,47 @@ struct btSoftBody
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btScalar m_im; // 1/mass
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btScalar m_area; // Area
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int m_battach:1; // Attached
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};
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};
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/* Link */
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struct Link : Element
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{
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{
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Node* m_n[2]; // Node pointers
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btScalar m_rl; // Rest length
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btScalar m_kST; // Stiffness coefficient
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btScalar m_c0; // (ima+imb)*kLST
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btScalar m_c1; // rl^2
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eLType::_ m_type; // Link type
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};
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btSoftBody::eLType::_ m_type; // Link type
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};
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/* Face */
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struct Face : Element
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{
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{
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Node* m_n[3]; // Node pointers
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btVector3 m_normal; // Normal
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btScalar m_ra; // Rest area
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};
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};
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/* Contact */
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struct Contact
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{
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ISoftBody::sCti m_cti; // Contact infos
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{
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btSoftBody::sCti m_cti; // Contact infos
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Node* m_node; // Owner node
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btMatrix3x3 m_c0; // Impulse matrix
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btVector3 m_c1; // Relative anchor
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btScalar m_c2; // ima*dt
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btScalar m_c3; // Friction
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};
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};
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/* Anchor */
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struct Anchor
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{
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{
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Node* m_node; // Node pointer
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btVector3 m_local; // Anchor position in body space
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btRigidBody* m_body; // Body
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btMatrix3x3 m_c0; // Impulse matrix
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btVector3 m_c1; // Relative anchor
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btScalar m_c2; // ima*dt
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};
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};
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/* Pose */
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struct Pose
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{
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{
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bool m_bvolume; // Is valid
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bool m_bframe; // Is frame
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btScalar m_volume; // Rest volume
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@@ -156,11 +189,11 @@ struct btSoftBody
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tScalarArray m_wgh; // Weights
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btVector3 m_com; // COM
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btMatrix3x3 m_trs; // Transform
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};
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};
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/* Config */
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struct Config
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{
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eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point)
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{
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btSoftBody::eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point)
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btScalar kLST; // Linear stiffness coefficient [0,1]
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btScalar kDP; // Damping coefficient [0,1]
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btScalar kDG; // Drag coefficient [0,+inf]
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@@ -178,93 +211,176 @@ struct btSoftBody
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int iterations; // Solver iterations
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bool becollide; // Enable external collisions
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bool bscollide; // Enable self collisions
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};
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};
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//
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// Typedef's
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//
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typedef btAlignedObjectArray<Node> tNodeArray;
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typedef btAlignedObjectArray<Link> tLinkArray;
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typedef btAlignedObjectArray<Face> tFaceArray;
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typedef btAlignedObjectArray<Anchor> tAnchorArray;
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typedef btAlignedObjectArray<Contact> tContactArray;
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//
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// Fields
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//
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Config m_cfg; // Configuration
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Pose m_pose; // Pose
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ISoftBody* m_isb; // ISoftBody
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void* m_tag; // User data
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tNodeArray m_nodes; // Nodes
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tLinkArray m_links; // Links
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tFaceArray m_faces; // Faces
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//////////////////////
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///btSoftBodyCollisionShape is work-in-progress collision shape for softbodies
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class btSoftBodyCollisionShape : public btConcaveShape
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{
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static btVector3 m_sScaling;
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public:
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tNodeArray m_nodes; // Nodes
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tLinkArray m_links; // Links
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tFaceArray m_faces; // Faces
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btSoftBodyCollisionShape();
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virtual ~btSoftBodyCollisionShape();
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virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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///not yet
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btAssert(0);
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}
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virtual int getShapeType() const
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{
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return SOFTBODY_SHAPE_PROXYTYPE;
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}
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virtual void setLocalScaling(const btVector3& scaling)
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{
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///not yet
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btAssert(0);
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}
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virtual const btVector3& getLocalScaling() const
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{
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///not yet
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btAssert(0);
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return m_sScaling;
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}
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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///not yet
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btAssert(0);
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}
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virtual const char* getName()const
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{
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return "SoftBody";
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}
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};
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btSoftBodyCollisionShape* m_softBodyCollisionShape;
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btCollisionObjectArray m_overlappingRigidBodies;
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btAlignedObjectArray<btSoftBody*> m_overlappingSoftBodies;
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//////////////////////
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inline tNodeArray& getNodes()
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{
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return m_softBodyCollisionShape->m_nodes;
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}
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inline const tNodeArray& getNodes() const
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{
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return m_softBodyCollisionShape->m_nodes;
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}
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inline tLinkArray& getLinks()
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{
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return m_softBodyCollisionShape->m_links;
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}
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inline const tLinkArray& getLinks() const
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{
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return m_softBodyCollisionShape->m_links;
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}
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inline tFaceArray& getFaces()
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{
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return m_softBodyCollisionShape->m_faces;
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}
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inline const tFaceArray& getFaces() const
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{
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return m_softBodyCollisionShape->m_faces;
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}
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tAnchorArray m_anchors; // Anchors
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tContactArray m_contacts; // Contacts
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btScalar m_timeacc; // Time accumulator
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btVector3 m_bounds[2]; // Spatial bounds
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bool m_bUpdateRtCst; // Update runtime constants
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//
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// Api
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//
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/* Create a soft body */
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static btSoftBody* Create( ISoftBody* isoftbody,
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int node_count,
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const btVector3* x=0,
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const btScalar* m=0);
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/* Delete a body */
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void Delete();
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/* Check for existing link */
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bool CheckLink( int node0,
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int node1) const;
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int node1) const;
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bool CheckLink( const btSoftBody::Node* node0,
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const btSoftBody::Node* node1) const;
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const btSoftBody::Node* node1) const;
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/* Check for existring face */
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bool CheckFace( int node0,
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int node1,
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int node2) const;
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int node1,
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int node2) const;
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/* Append link */
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void AppendLink( int node0,
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int node1,
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btScalar kST,
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btSoftBody::eLType::_ type,
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bool bcheckexist=false);
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int node1,
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btScalar kST,
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btSoftBody::eLType::_ type,
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bool bcheckexist=false);
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void AppendLink( btSoftBody::Node* node0,
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btSoftBody::Node* node1,
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btScalar kST,
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btSoftBody::eLType::_ type,
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bool bcheckexist=false);
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btSoftBody::Node* node1,
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btScalar kST,
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btSoftBody::eLType::_ type,
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bool bcheckexist=false);
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/* Append face */
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void AppendFace( int node0,
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int node1,
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int node2);
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int node1,
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int node2);
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/* Append anchor */
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void AppendAnchor( int node,
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btRigidBody* body);
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btRigidBody* body);
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/* Add force (or gravity) to the entire body */
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void AddForce( const btVector3& force);
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/* Add force (or gravity) to a node of the body */
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void AddForce( const btVector3& force,
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int node);
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int node);
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/* Add velocity to the entire body */
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void AddVelocity( const btVector3& velocity);
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/* Add velocity to a node of the body */
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void AddVelocity( const btVector3& velocity,
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int node);
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int node);
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/* Set mass */
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void SetMass( int node,
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btScalar mass);
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btScalar mass);
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||||
/* Get mass */
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btScalar GetMass( int node) const;
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/* Get total mass */
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btScalar GetTotalMass() const;
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/* Set total mass (weighted by previous masses) */
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void SetTotalMass( btScalar mass,
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bool fromfaces=false);
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bool fromfaces=false);
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/* Set total density */
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void SetTotalDensity(btScalar density);
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/* Transform */
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@@ -273,84 +389,30 @@ struct btSoftBody
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void Scale( const btVector3& scl);
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/* Set current state as pose */
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void SetPose( bool bvolume,
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bool bframe);
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bool bframe);
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/* Return the volume */
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btScalar GetVolume() const;
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/* Generate bending constraints based on distance in the adjency graph */
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int GenerateBendingConstraints( int distance,
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btScalar stiffness);
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btScalar stiffness);
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/* Randomize constraints to reduce solver bias */
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void RandomizeConstraints();
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/* Ray casting */
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btScalar Raycast( const btVector3& org,
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const btVector3& dir) const;
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const btVector3& dir) const;
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||||
/* Step */
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||||
void Step( btScalar dt);
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||||
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||||
};
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||||
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||||
//
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// Helpers
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||||
//
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||||
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||||
/* fDrawFlags */
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||||
struct fDrawFlags { enum _ {
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Nodes = 0x0001,
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SLinks = 0x0002,
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BLinks = 0x0004,
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Faces = 0x0008,
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Tetras = 0x0010,
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Normals = 0x0020,
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Contacts = 0x0040,
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Anchors = 0x0080,
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/* presets */
|
||||
Links = SLinks+BLinks,
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||||
Std = SLinks+Faces+Anchors,
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||||
StdTetra = Std-Faces+Tetras,
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||||
};};
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||||
void updateBounds();
|
||||
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||||
/* Draw body */
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||||
void Draw( btSoftBody* psb,
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||||
btIDebugDraw* idraw,
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||||
int drawflags=fDrawFlags::Std);
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||||
/* Draw body infos */
|
||||
void DrawInfos( btSoftBody* psb,
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||||
btIDebugDraw* idraw,
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||||
bool masses,
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||||
bool areas,
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||||
bool stress);
|
||||
/* Draw rigid frame */
|
||||
void DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw);
|
||||
/* Create a rope */
|
||||
btSoftBody* CreateRope( btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds);
|
||||
/* Create a patch */
|
||||
btSoftBody* CreatePatch( btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags);
|
||||
/* Create an ellipsoid */
|
||||
btSoftBody* CreateEllipsoid(btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& center,
|
||||
const btVector3& radius,
|
||||
int res);
|
||||
/* Create from convex-hull */
|
||||
btSoftBody* CreateFromConvexHull( btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3* vertices,
|
||||
int nvertices);
|
||||
/* Create from trimesh */
|
||||
btSoftBody* CreateFromTriMesh( btSoftBody::ISoftBody* isoftbody,
|
||||
const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles);
|
||||
void updateTransform()
|
||||
{
|
||||
updateBounds();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //_BT_SOFT_BODY_H
|
||||
|
||||
@@ -17,73 +17,69 @@ subject to the following restrictions:
|
||||
#include "btSoftBody.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
namespace btsoftbody_internals
|
||||
{
|
||||
#include "btSoftBodyHelpers.h"
|
||||
|
||||
//
|
||||
static void drawVertex( btIDebugDraw* idraw,
|
||||
const btVector3& x,btScalar s,const btVector3& c)
|
||||
{
|
||||
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
|
||||
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
|
||||
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
|
||||
}
|
||||
|
||||
//
|
||||
static btVector3 stresscolor(btScalar stress)
|
||||
{
|
||||
static const btVector3 spectrum[]= {
|
||||
btVector3(1,0,1),
|
||||
btVector3(0,0,1),
|
||||
btVector3(0,1,1),
|
||||
btVector3(0,1,0),
|
||||
btVector3(1,1,0),
|
||||
btVector3(1,0,0),
|
||||
btVector3(1,0,0),
|
||||
};
|
||||
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
|
||||
static const btScalar one=1;
|
||||
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
|
||||
const int sel=(int)stress;
|
||||
const btScalar frc=stress-sel;
|
||||
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
using namespace btsoftbody_internals;
|
||||
|
||||
//
|
||||
void Draw( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int drawflags)
|
||||
{
|
||||
const btScalar scl=(btScalar)0.1;
|
||||
const btScalar nscl=scl*5;
|
||||
const btScalar alpha=(btScalar)0.5;
|
||||
const btVector3 scolor=btVector3(0,0,0);
|
||||
const btVector3 bcolor=btVector3(1,1,0);
|
||||
const btVector3 ncolor=btVector3(1,1,1);
|
||||
const btVector3 ccolor=btVector3(1,0,0);
|
||||
/* Nodes */
|
||||
if(0!=(drawflags&fDrawFlags::Nodes))
|
||||
void btSoftBodyHelpers::drawVertex( btIDebugDraw* idraw,
|
||||
const btVector3& x,btScalar s,const btVector3& c)
|
||||
{
|
||||
for(int i=0;i<psb->m_nodes.size();++i)
|
||||
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
|
||||
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
|
||||
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
|
||||
}
|
||||
|
||||
//
|
||||
btVector3 btSoftBodyHelpers::stresscolor(btScalar stress)
|
||||
{
|
||||
static const btVector3 spectrum[]= {
|
||||
btVector3(1,0,1),
|
||||
btVector3(0,0,1),
|
||||
btVector3(0,1,1),
|
||||
btVector3(0,1,0),
|
||||
btVector3(1,1,0),
|
||||
btVector3(1,0,0),
|
||||
btVector3(1,0,0),
|
||||
};
|
||||
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
|
||||
static const btScalar one=1;
|
||||
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
|
||||
const int sel=(int)stress;
|
||||
const btScalar frc=stress-sel;
|
||||
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//
|
||||
void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int drawflags)
|
||||
{
|
||||
const btScalar scl=(btScalar)0.1;
|
||||
const btScalar nscl=scl*5;
|
||||
const btScalar alpha=(btScalar)0.5;
|
||||
const btVector3 scolor=btVector3(0,0,0);
|
||||
const btVector3 bcolor=btVector3(1,1,0);
|
||||
const btVector3 ncolor=btVector3(1,1,1);
|
||||
const btVector3 ccolor=btVector3(1,0,0);
|
||||
/* Nodes */
|
||||
if(0!=(drawflags&fDrawFlags::Nodes))
|
||||
{
|
||||
for(int i=0;i<psb->getNodes().size();++i)
|
||||
{
|
||||
const btSoftBody::Node& n=psb->m_nodes[i];
|
||||
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
|
||||
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
|
||||
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
|
||||
const btSoftBody::Node& n=psb->getNodes()[i];
|
||||
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
|
||||
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
|
||||
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
|
||||
}
|
||||
}
|
||||
/* Links */
|
||||
if(0!=(drawflags&fDrawFlags::Links))
|
||||
/* Links */
|
||||
if(0!=(drawflags&fDrawFlags::Links))
|
||||
{
|
||||
for(int i=0;i<psb->m_links.size();++i)
|
||||
for(int i=0;i<psb->getLinks().size();++i)
|
||||
{
|
||||
const btSoftBody::Link& l=psb->m_links[i];
|
||||
switch(l.m_type)
|
||||
const btSoftBody::Link& l=psb->getLinks()[i];
|
||||
switch(l.m_type)
|
||||
{
|
||||
case btSoftBody::eLType::Structural:
|
||||
if(0!=(drawflags&fDrawFlags::SLinks)) idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,scolor);break;
|
||||
@@ -92,308 +88,304 @@ if(0!=(drawflags&fDrawFlags::Links))
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Normals */
|
||||
if(0!=(drawflags&fDrawFlags::Normals))
|
||||
/* Normals */
|
||||
if(0!=(drawflags&fDrawFlags::Normals))
|
||||
{
|
||||
for(int i=0;i<psb->m_nodes.size();++i)
|
||||
for(int i=0;i<psb->getNodes().size();++i)
|
||||
{
|
||||
const btSoftBody::Node& n=psb->m_nodes[i];
|
||||
const btVector3 d=n.m_n*nscl;
|
||||
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
|
||||
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
|
||||
const btSoftBody::Node& n=psb->getNodes()[i];
|
||||
const btVector3 d=n.m_n*nscl;
|
||||
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
|
||||
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
|
||||
}
|
||||
}
|
||||
/* Contacts */
|
||||
if(0!=(drawflags&fDrawFlags::Contacts))
|
||||
/* Contacts */
|
||||
if(0!=(drawflags&fDrawFlags::Contacts))
|
||||
{
|
||||
static const btVector3 axis[]={btVector3(1,0,0),
|
||||
btVector3(0,1,0),
|
||||
btVector3(0,0,1)};
|
||||
for(int i=0;i<psb->m_contacts.size();++i)
|
||||
static const btVector3 axis[]={btVector3(1,0,0),
|
||||
btVector3(0,1,0),
|
||||
btVector3(0,0,1)};
|
||||
for(int i=0;i<psb->m_contacts.size();++i)
|
||||
{
|
||||
const btSoftBody::Contact& c=psb->m_contacts[i];
|
||||
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
|
||||
(dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
|
||||
const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
|
||||
const btVector3 y=cross(x,c.m_cti.m_normal).normalized();
|
||||
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
|
||||
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
|
||||
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
|
||||
const btSoftBody::Contact& c=psb->m_contacts[i];
|
||||
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
|
||||
(dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
|
||||
const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
|
||||
const btVector3 y=cross(x,c.m_cti.m_normal).normalized();
|
||||
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
|
||||
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
|
||||
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
|
||||
}
|
||||
}
|
||||
/* Anchors */
|
||||
if(0!=(drawflags&fDrawFlags::Anchors))
|
||||
/* Anchors */
|
||||
if(0!=(drawflags&fDrawFlags::Anchors))
|
||||
{
|
||||
for(int i=0;i<psb->m_anchors.size();++i)
|
||||
for(int i=0;i<psb->m_anchors.size();++i)
|
||||
{
|
||||
const btSoftBody::Anchor& a=psb->m_anchors[i];
|
||||
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
|
||||
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
|
||||
drawVertex(idraw,q,0.25,btVector3(0,1,0));
|
||||
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
|
||||
const btSoftBody::Anchor& a=psb->m_anchors[i];
|
||||
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
|
||||
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
|
||||
drawVertex(idraw,q,0.25,btVector3(0,1,0));
|
||||
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
|
||||
}
|
||||
for(int i=0;i<psb->m_nodes.size();++i)
|
||||
for(int i=0;i<psb->getNodes().size();++i)
|
||||
{
|
||||
const btSoftBody::Node& n=psb->m_nodes[i];
|
||||
if(n.m_im<=0)
|
||||
const btSoftBody::Node& n=psb->getNodes()[i];
|
||||
if(n.m_im<=0)
|
||||
{
|
||||
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
|
||||
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Faces */
|
||||
if(0!=(drawflags&fDrawFlags::Faces))
|
||||
/* Faces */
|
||||
if(0!=(drawflags&fDrawFlags::Faces))
|
||||
{
|
||||
const btScalar scl=(btScalar)0.7;
|
||||
const btScalar alp=(btScalar)1;
|
||||
const btVector3 col(0,(btScalar)0.7,0);
|
||||
for(int i=0;i<psb->m_faces.size();++i)
|
||||
const btScalar scl=(btScalar)0.7;
|
||||
const btScalar alp=(btScalar)1;
|
||||
const btVector3 col(0,(btScalar)0.7,0);
|
||||
for(int i=0;i<psb->getFaces().size();++i)
|
||||
{
|
||||
const btSoftBody::Face& f=psb->m_faces[i];
|
||||
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
|
||||
const btVector3 c=(x[0]+x[1]+x[2])/3;
|
||||
idraw->drawTriangle((x[0]-c)*scl+c,
|
||||
(x[1]-c)*scl+c,
|
||||
(x[2]-c)*scl+c,
|
||||
f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
|
||||
col,alp);
|
||||
const btSoftBody::Face& f=psb->getFaces()[i];
|
||||
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
|
||||
const btVector3 c=(x[0]+x[1]+x[2])/3;
|
||||
idraw->drawTriangle((x[0]-c)*scl+c,
|
||||
(x[1]-c)*scl+c,
|
||||
(x[2]-c)*scl+c,
|
||||
f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
|
||||
col,alp);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
void DrawInfos( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
bool masses,
|
||||
bool areas,
|
||||
bool stress)
|
||||
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
bool masses,
|
||||
bool areas,
|
||||
bool stress)
|
||||
{
|
||||
for(int i=0;i<psb->m_nodes.size();++i)
|
||||
for(int i=0;i<psb->getNodes().size();++i)
|
||||
{
|
||||
const btSoftBody::Node& n=psb->m_nodes[i];
|
||||
char text[2048]={0};
|
||||
char buff[1024];
|
||||
if(masses)
|
||||
const btSoftBody::Node& n=psb->getNodes()[i];
|
||||
char text[2048]={0};
|
||||
char buff[1024];
|
||||
if(masses)
|
||||
{
|
||||
sprintf(buff," M(%.2f)",1/n.m_im);
|
||||
strcat(text,buff);
|
||||
sprintf(buff," M(%.2f)",1/n.m_im);
|
||||
strcat(text,buff);
|
||||
}
|
||||
if(areas)
|
||||
if(areas)
|
||||
{
|
||||
sprintf(buff," A(%.2f)",n.m_area);
|
||||
strcat(text,buff);
|
||||
sprintf(buff," A(%.2f)",n.m_area);
|
||||
strcat(text,buff);
|
||||
}
|
||||
if(text[0]) idraw->draw3dText(n.m_x,text);
|
||||
if(text[0]) idraw->draw3dText(n.m_x,text);
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
void DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw)
|
||||
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw)
|
||||
{
|
||||
if(psb->m_pose.m_bframe)
|
||||
if(psb->m_pose.m_bframe)
|
||||
{
|
||||
static const btScalar ascl=10;
|
||||
static const btScalar nscl=(btScalar)0.1;
|
||||
const btVector3 com=psb->m_pose.m_com;
|
||||
const btMatrix3x3& trs=psb->m_pose.m_trs;
|
||||
const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
|
||||
const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
|
||||
const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
|
||||
idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
|
||||
idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
|
||||
idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
|
||||
for(int i=0;i<psb->m_pose.m_pos.size();++i)
|
||||
static const btScalar ascl=10;
|
||||
static const btScalar nscl=(btScalar)0.1;
|
||||
const btVector3 com=psb->m_pose.m_com;
|
||||
const btMatrix3x3& trs=psb->m_pose.m_trs;
|
||||
const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
|
||||
const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
|
||||
const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
|
||||
idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
|
||||
idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
|
||||
idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
|
||||
for(int i=0;i<psb->m_pose.m_pos.size();++i)
|
||||
{
|
||||
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
|
||||
idraw->drawLine(x-btVector3(1,0,0)*nscl,x+btVector3(1,0,0)*nscl,btVector3(1,0,1));
|
||||
idraw->drawLine(x-btVector3(0,1,0)*nscl,x+btVector3(0,1,0)*nscl,btVector3(1,0,1));
|
||||
idraw->drawLine(x-btVector3(0,0,1)*nscl,x+btVector3(0,0,1)*nscl,btVector3(1,0,1));
|
||||
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
|
||||
idraw->drawLine(x-btVector3(1,0,0)*nscl,x+btVector3(1,0,0)*nscl,btVector3(1,0,1));
|
||||
idraw->drawLine(x-btVector3(0,1,0)*nscl,x+btVector3(0,1,0)*nscl,btVector3(1,0,1));
|
||||
idraw->drawLine(x-btVector3(0,0,1)*nscl,x+btVector3(0,0,1)*nscl,btVector3(1,0,1));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
btSoftBody* CreateRope( btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds)
|
||||
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds)
|
||||
{
|
||||
/* Create nodes */
|
||||
const int r=res+2;
|
||||
btVector3* x=new btVector3[r];
|
||||
btScalar* m=new btScalar[r];
|
||||
for(int i=0;i<r;++i)
|
||||
/* Create nodes */
|
||||
const int r=res+2;
|
||||
btVector3* x=new btVector3[r];
|
||||
btScalar* m=new btScalar[r];
|
||||
for(int i=0;i<r;++i)
|
||||
{
|
||||
const btScalar t=i/(btScalar)(r-1);
|
||||
x[i]=lerp(from,to,t);
|
||||
m[i]=1;
|
||||
const btScalar t=i/(btScalar)(r-1);
|
||||
x[i]=lerp(from,to,t);
|
||||
m[i]=1;
|
||||
}
|
||||
btSoftBody* psb=btSoftBody::Create(isoftbody,r,x,m);
|
||||
if(fixeds&1) psb->SetMass(0,0);
|
||||
if(fixeds&2) psb->SetMass(r-1,0);
|
||||
delete[] x;
|
||||
delete[] m;
|
||||
/* Create links */
|
||||
for(int i=1;i<r;++i)
|
||||
btSoftBody* psb= new btSoftBody(worldInfo,r,x,m);
|
||||
if(fixeds&1) psb->SetMass(0,0);
|
||||
if(fixeds&2) psb->SetMass(r-1,0);
|
||||
delete[] x;
|
||||
delete[] m;
|
||||
/* Create links */
|
||||
for(int i=1;i<r;++i)
|
||||
{
|
||||
psb->AppendLink(i-1,i,1,btSoftBody::eLType::Structural);
|
||||
psb->AppendLink(i-1,i,1,btSoftBody::eLType::Structural);
|
||||
}
|
||||
/* Finished */
|
||||
return(psb);
|
||||
/* Finished */
|
||||
return(psb);
|
||||
}
|
||||
|
||||
//
|
||||
btSoftBody* CreatePatch( btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags)
|
||||
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags)
|
||||
{
|
||||
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
|
||||
/* Create nodes */
|
||||
if((resx<2)||(resy<2)) return(0);
|
||||
const int rx=resx;
|
||||
const int ry=resy;
|
||||
const int tot=rx*ry;
|
||||
btVector3* x=new btVector3[tot];
|
||||
btScalar* m=new btScalar[tot];
|
||||
for(int iy=0;iy<ry;++iy)
|
||||
/* Create nodes */
|
||||
if((resx<2)||(resy<2)) return(0);
|
||||
const int rx=resx;
|
||||
const int ry=resy;
|
||||
const int tot=rx*ry;
|
||||
btVector3* x=new btVector3[tot];
|
||||
btScalar* m=new btScalar[tot];
|
||||
for(int iy=0;iy<ry;++iy)
|
||||
{
|
||||
const btScalar ty=iy/(btScalar)(ry-1);
|
||||
const btVector3 py0=lerp(corner00,corner01,ty);
|
||||
const btVector3 py1=lerp(corner10,corner11,ty);
|
||||
for(int ix=0;ix<rx;++ix)
|
||||
const btScalar ty=iy/(btScalar)(ry-1);
|
||||
const btVector3 py0=lerp(corner00,corner01,ty);
|
||||
const btVector3 py1=lerp(corner10,corner11,ty);
|
||||
for(int ix=0;ix<rx;++ix)
|
||||
{
|
||||
const btScalar tx=ix/(btScalar)(rx-1);
|
||||
x[IDX(ix,iy)]=lerp(py0,py1,tx);
|
||||
m[IDX(ix,iy)]=1;
|
||||
const btScalar tx=ix/(btScalar)(rx-1);
|
||||
x[IDX(ix,iy)]=lerp(py0,py1,tx);
|
||||
m[IDX(ix,iy)]=1;
|
||||
}
|
||||
}
|
||||
btSoftBody* psb=btSoftBody::Create(isoftbody,tot,x,m);
|
||||
if(fixeds&1) psb->SetMass(IDX(0,0),0);
|
||||
if(fixeds&2) psb->SetMass(IDX(rx-1,0),0);
|
||||
if(fixeds&4) psb->SetMass(IDX(0,ry-1),0);
|
||||
if(fixeds&8) psb->SetMass(IDX(rx-1,ry-1),0);
|
||||
delete[] x;
|
||||
delete[] m;
|
||||
/* Create links and faces */
|
||||
for(int iy=0;iy<ry;++iy)
|
||||
btSoftBody* psb=new btSoftBody(worldInfo,tot,x,m);
|
||||
if(fixeds&1) psb->SetMass(IDX(0,0),0);
|
||||
if(fixeds&2) psb->SetMass(IDX(rx-1,0),0);
|
||||
if(fixeds&4) psb->SetMass(IDX(0,ry-1),0);
|
||||
if(fixeds&8) psb->SetMass(IDX(rx-1,ry-1),0);
|
||||
delete[] x;
|
||||
delete[] m;
|
||||
/* Create links and faces */
|
||||
for(int iy=0;iy<ry;++iy)
|
||||
{
|
||||
for(int ix=0;ix<rx;++ix)
|
||||
for(int ix=0;ix<rx;++ix)
|
||||
{
|
||||
const int idx=IDX(ix,iy);
|
||||
const bool mdx=(ix+1)<rx;
|
||||
const bool mdy=(iy+1)<ry;
|
||||
if(mdx) psb->AppendLink(idx,IDX(ix+1,iy),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
if(mdy) psb->AppendLink(idx,IDX(ix,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
if(mdx&&mdy)
|
||||
const int idx=IDX(ix,iy);
|
||||
const bool mdx=(ix+1)<rx;
|
||||
const bool mdy=(iy+1)<ry;
|
||||
if(mdx) psb->AppendLink(idx,IDX(ix+1,iy),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
if(mdy) psb->AppendLink(idx,IDX(ix,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
if(mdx&&mdy)
|
||||
{
|
||||
if((ix+iy)&1)
|
||||
if((ix+iy)&1)
|
||||
{
|
||||
psb->AppendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
|
||||
psb->AppendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
|
||||
if(gendiags)
|
||||
psb->AppendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
|
||||
psb->AppendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
|
||||
if(gendiags)
|
||||
{
|
||||
psb->AppendLink(IDX(ix,iy),IDX(ix+1,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
psb->AppendLink(IDX(ix,iy),IDX(ix+1,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
psb->AppendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
|
||||
psb->AppendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
|
||||
if(gendiags)
|
||||
psb->AppendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
|
||||
psb->AppendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
|
||||
if(gendiags)
|
||||
{
|
||||
psb->AppendLink(IDX(ix+1,iy),IDX(ix,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
psb->AppendLink(IDX(ix+1,iy),IDX(ix,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Finished */
|
||||
/* Finished */
|
||||
#undef IDX
|
||||
return(psb);
|
||||
return(psb);
|
||||
}
|
||||
|
||||
//
|
||||
btSoftBody* CreateEllipsoid(btSoftBody::ISoftBody* isoftbody,
|
||||
const btVector3& center,
|
||||
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
|
||||
const btVector3& radius,
|
||||
int res)
|
||||
{
|
||||
struct Hammersley
|
||||
struct Hammersley
|
||||
{
|
||||
static void Generate(btVector3* x,int n)
|
||||
static void Generate(btVector3* x,int n)
|
||||
{
|
||||
for(int i=0;i<n;i++)
|
||||
for(int i=0;i<n;i++)
|
||||
{
|
||||
btScalar p=0.5,t=0;
|
||||
for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
|
||||
btScalar w=2*t-1;
|
||||
btScalar a=(SIMD_PI+2*i*SIMD_PI)/n;
|
||||
btScalar s=btSqrt(1-w*w);
|
||||
*x++=btVector3(s*btCos(a),s*btSin(a),w);
|
||||
btScalar p=0.5,t=0;
|
||||
for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
|
||||
btScalar w=2*t-1;
|
||||
btScalar a=(SIMD_PI+2*i*SIMD_PI)/n;
|
||||
btScalar s=btSqrt(1-w*w);
|
||||
*x++=btVector3(s*btCos(a),s*btSin(a),w);
|
||||
}
|
||||
}
|
||||
};
|
||||
btAlignedObjectArray<btVector3> vtx;
|
||||
vtx.resize(3+res);
|
||||
Hammersley::Generate(&vtx[0],vtx.size());
|
||||
for(int i=0;i<vtx.size();++i)
|
||||
btAlignedObjectArray<btVector3> vtx;
|
||||
vtx.resize(3+res);
|
||||
Hammersley::Generate(&vtx[0],vtx.size());
|
||||
for(int i=0;i<vtx.size();++i)
|
||||
{
|
||||
vtx[i]=vtx[i]*radius+center;
|
||||
vtx[i]=vtx[i]*radius+center;
|
||||
}
|
||||
return(CreateFromConvexHull(isoftbody,&vtx[0],vtx.size()));
|
||||
return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size()));
|
||||
}
|
||||
|
||||
|
||||
|
||||
//
|
||||
btSoftBody* CreateFromTriMesh( btSoftBody::ISoftBody* isoftbody,
|
||||
const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles)
|
||||
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles)
|
||||
{
|
||||
int maxidx=0;
|
||||
for(int i=0,ni=ntriangles*3;i<ni;++i)
|
||||
int maxidx=0;
|
||||
for(int i=0,ni=ntriangles*3;i<ni;++i)
|
||||
{
|
||||
maxidx=btMax(triangles[i],maxidx);
|
||||
maxidx=btMax(triangles[i],maxidx);
|
||||
}
|
||||
++maxidx;
|
||||
btAlignedObjectArray<bool> chks;
|
||||
btAlignedObjectArray<btVector3> vtx;
|
||||
chks.resize(maxidx*maxidx,false);
|
||||
vtx.resize(maxidx);
|
||||
for(int i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
|
||||
++maxidx;
|
||||
btAlignedObjectArray<bool> chks;
|
||||
btAlignedObjectArray<btVector3> vtx;
|
||||
chks.resize(maxidx*maxidx,false);
|
||||
vtx.resize(maxidx);
|
||||
for(int i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
|
||||
{
|
||||
vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
|
||||
vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
|
||||
}
|
||||
btSoftBody* psb=btSoftBody::Create(isoftbody,vtx.size(),&vtx[0],0);
|
||||
for(int i=0,ni=ntriangles*3;i<ni;i+=3)
|
||||
btSoftBody* psb=new btSoftBody(worldInfo,vtx.size(),&vtx[0],0);
|
||||
for(int i=0,ni=ntriangles*3;i<ni;i+=3)
|
||||
{
|
||||
const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
|
||||
#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
|
||||
for(int j=2,k=0;k<3;j=k++)
|
||||
const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
|
||||
#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
|
||||
for(int j=2,k=0;k<3;j=k++)
|
||||
{
|
||||
if(!chks[IDX(idx[j],idx[k])])
|
||||
if(!chks[IDX(idx[j],idx[k])])
|
||||
{
|
||||
chks[IDX(idx[j],idx[k])]=true;
|
||||
chks[IDX(idx[k],idx[k])]=true;
|
||||
psb->AppendLink(idx[j],idx[k],1,btSoftBody::eLType::Structural);
|
||||
chks[IDX(idx[j],idx[k])]=true;
|
||||
chks[IDX(idx[k],idx[k])]=true;
|
||||
psb->AppendLink(idx[j],idx[k],1,btSoftBody::eLType::Structural);
|
||||
}
|
||||
}
|
||||
#undef IDX
|
||||
psb->AppendFace(idx[0],idx[1],idx[2]);
|
||||
#undef IDX
|
||||
psb->AppendFace(idx[0],idx[1],idx[2]);
|
||||
}
|
||||
psb->RandomizeConstraints();
|
||||
return(psb);
|
||||
psb->RandomizeConstraints();
|
||||
return(psb);
|
||||
}
|
||||
|
||||
90
src/BulletDynamics/SoftBody/btSoftBodyHelpers.h
Normal file
90
src/BulletDynamics/SoftBody/btSoftBodyHelpers.h
Normal file
@@ -0,0 +1,90 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SOFT_BODY_HELPERS_H
|
||||
#define SOFT_BODY_HELPERS_H
|
||||
|
||||
#include "btSoftBody.h"
|
||||
|
||||
//
|
||||
// Helpers
|
||||
//
|
||||
|
||||
/* fDrawFlags */
|
||||
struct fDrawFlags { enum _ {
|
||||
Nodes = 0x0001,
|
||||
SLinks = 0x0002,
|
||||
BLinks = 0x0004,
|
||||
Faces = 0x0008,
|
||||
Tetras = 0x0010,
|
||||
Normals = 0x0020,
|
||||
Contacts = 0x0040,
|
||||
Anchors = 0x0080,
|
||||
/* presets */
|
||||
Links = SLinks+BLinks,
|
||||
Std = SLinks+Faces+Anchors,
|
||||
StdTetra = Std-Faces+Tetras,
|
||||
};};
|
||||
|
||||
struct btSoftBodyHelpers
|
||||
{
|
||||
|
||||
static btVector3 stresscolor(btScalar stress);
|
||||
|
||||
static void drawVertex( btIDebugDraw* idraw,
|
||||
const btVector3& x,btScalar s,const btVector3& c);
|
||||
|
||||
|
||||
/* Draw body */
|
||||
static void Draw( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int drawflags=fDrawFlags::Std);
|
||||
/* Draw body infos */
|
||||
static void DrawInfos( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
bool masses,
|
||||
bool areas,
|
||||
bool stress);
|
||||
/* Draw rigid frame */
|
||||
static void DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw);
|
||||
/* Create a rope */
|
||||
static btSoftBody* CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds);
|
||||
/* Create a patch */
|
||||
static btSoftBody* CreatePatch( btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags);
|
||||
/* Create an ellipsoid */
|
||||
static btSoftBody* CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
|
||||
const btVector3& radius,
|
||||
int res);
|
||||
/* Create from convex-hull */
|
||||
static btSoftBody* CreateFromConvexHull( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
|
||||
int nvertices);
|
||||
/* Create from trimesh */
|
||||
static btSoftBody* CreateFromTriMesh( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles);
|
||||
};
|
||||
|
||||
#endif //SOFT_BODY_HELPERS_H
|
||||
Reference in New Issue
Block a user